Multisensor Fusion for Sensory Intelligence in Robotics

We will present case studies in the fusion of di erent sensory types on arm and mobile robots We will rst present a system in which an infrared heat sensor and ultrasonic sensors mounted on a mobile robot are used together to detect human intruders In this case mul tisensor fusion is necessitated by the fact that each sensor by itself is inadequate for the mission The signals from the di erent sensors are fed into a neural network that makes the intruder no intruder decision Our second case study concerns the use of multiple sensors in a robotic workcell for the purpose of recog nizing and localizing complex objects using the small est number of look angles Our nal case study will discuss a D vision system for fast object recognition in which range and color are fused in a manner that results in highly computationally e cient algorithms for object recognition